EP0548058A2 - An arrangement for positioning animals in a box - Google Patents

An arrangement for positioning animals in a box Download PDF

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Publication number
EP0548058A2
EP0548058A2 EP93200521A EP93200521A EP0548058A2 EP 0548058 A2 EP0548058 A2 EP 0548058A2 EP 93200521 A EP93200521 A EP 93200521A EP 93200521 A EP93200521 A EP 93200521A EP 0548058 A2 EP0548058 A2 EP 0548058A2
Authority
EP
European Patent Office
Prior art keywords
box
arrangement
means
animal
ratchet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP93200521A
Other languages
German (de)
French (fr)
Other versions
EP0548058A3 (en
EP0548058B1 (en
Inventor
Karel Van Den Berg
René Fransen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maasland NV
Original Assignee
Van der Lely C NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
Priority to NL9000836A priority Critical patent/NL9000836A/en
Priority to NL9000836 priority
Application filed by Van der Lely C NV filed Critical Van der Lely C NV
Priority to EP19910200792 priority patent/EP0451906B1/en
Publication of EP0548058A2 publication Critical patent/EP0548058A2/en
Publication of EP0548058A3 publication Critical patent/EP0548058A3/en
Application granted granted Critical
Publication of EP0548058B1 publication Critical patent/EP0548058B1/en
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=19856894&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0548058(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Anticipated expiration legal-status Critical
Application status is Expired - Lifetime legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01KANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00Housing animals; Equipment therefor
    • A01K1/06Devices for fastening animals, e.g. halters, toggles, neck-bars or chain fastenings
    • A01K1/0613Devices for immobilisation or restraint of animals, e.g. chutes
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01KANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00Housing animals; Equipment therefor
    • A01K1/12Milking stations
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01KANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes

Abstract

An arrangement for positioning animals in a box (2) comprises movable means (6,29) for letting an animal (1) in and out of the box (2) and positioning means for adjusting the animal (1) to a position defined to a vertical plane in the longitudinal direction of the box (2). The positioning means include two guide members (6,7) being arranged near opposite longitudinal sides of the box (2). Further, there are provided blocking means (20) which, when the animal (1) enters the box (2) or has already entered it and when a guide member (6) is moved into the direction of a relevant side of the animal (1) or is in contact therewith, block a guide member movement in a direction opposite to the said direction.

Description

  • The present invention relates to an arrangement for positioning animals, such as cows, in a box, which arrangement comprises movable means for letting an animal in and out of the box and positioning means for adjusting the animal to a position defined to a vertical plane in the longitudinal direction of the box, said positioning means including two guide members being arranged near opposite longitudinal sides of the box.
  • Such an arrangement is known from EP-B-0 188 303. In the arrangement described, particularly in Figure 4 of that document, the animal can still move sidewardly against the action of a spring, although the animal is forced to a middle position between the guide members.
  • The invention has for its object to provide an arrangement for positioning animals, in which the animals can be positioned more accurately and be held in said position during milking.
  • To this end, the arrangement according to the invention is provided with blocking means which, when the animal enters the box or has already entered it and when a guide member is moved into the direction of a relevant side of the animal or is in contact therewith, block a guide member movement in a direction opposite to the said direction. In a specific embodiment, the blocking means include a ratchet, the housing of which is preferably mounted on the box frame in such a manner as to be capable of hinging, while the ratchet further may be provided with a guide slot, through which travels a rack that also constitutes part of the ratchet and is connected pivotably to one of the guide members. In addition, the ratchet may include a pawl which is connected movably to the ratchet housing and, under the action of a spring, meshes with the teeth of the rack.
  • In a further embodiment the arrangement may be provided with a decoupling means which, preferably, is constituted by an operating cylinder for eliminating the limitation in freedom of movement of the relevant guide member as imposed by the ratchet. Furthermore, in accordance with the invention, an operating cylinder may be provided to move a guide member into the direction of a relevant side of the animal. Specifically, when the arrangement is applied in an implement for automatically milking animals, a computer will be provided, by means of which signals can be generated to control the operating cylinder and/or the decoupling member.
  • For a better understanding of the invention and to show how the same may be carried into effect, reference will now be made, by way of example, to the accompanying drawings, in which:
    • Figure 1 is a plan view of the arrangement for positioning animals in a box, and
    • Figure 2 is a side view of a detail of this arrangement.
  • Figure 1 shows in a plan view a cow 1 in a box 2 provided with movable means 6 and 28 for letting the cow 1 in and out of the box 2 and control means 39 and 37, respectively, for the said movable means 6 and 28. The box 2 furthermore includes positioning means 6 and 7 for adjusting the cow 1 to a position defined relative to the box as well as for maintaining it in that position for at least part of its time of stay therein. In the embodiment shown in Figure 1, the portion 6 of the movable means constitutes part of the positioning means. The positioning means 6 and 7 adjust the cow 1 to a position defined with respect to a line in the longitudinal direction of the box 2.
  • More in particular, the positioning means 6, 7 are constituted by guide members which can be moved against a relevant side of the cow 1. The guide member which constitutes part of the positioning means 6, 7 is also denoted by the reference numeral 6. Likewise, the portion 28 of the movable means is constituted by a guide member denoted by the same reference numeral 28.
  • In the embodiment, the boundary of the box 2 is formed by a frame 3 comprising uprights 5 and the guide members 6 and 28. By means of the guide members 6 and 28 which are pivotal about substantially vertical shafts 8 and 30, respectively, the cow 1 can be let in or out of the box 2 by a signal supplied by a computer 41, after the respective control means 39 and 37 have been energized. On admitting the cow 1 into the box 2, the guide member 6 is in a position as indicated by interrupted lines in Figure 1. The access to the box 2 is then perfectly free for the cow 1, so that it can advance unimpededly thereinto until its head reaches a manger 4.
  • In order to achieve a co-operation between the positioning means 6 and 7, the guide member 6 is connected to the guide member 7 via an intermediate rod 14. The guide member 7 is pivotal about the substantially vertical pivot shaft 9 and is positioned by means of a vertical pivot shaft 16 in the guide slot 15 of the intermediate rod 14. In addition, in accordance with the embodiment of Figure 1, the two guide members 6, 7 are provided with stops 10 and 11, respectively, which stops are pivotal about substantially vertical shafts 12, 13. Hereby is effected a contact area which adapts itself to the cow's body when one or both of the stops 10, 11 are in contact with a relevant side of cow 1.
  • The operation of the positioning means 6, 7 is effected by means of a signal applied by the computer 41 to the control means, and more specifically to a pneumatic, hydraulic or electro-mechanical cylinder 39 constituting part thereof. The cylinder 39 is arranged capably of pivotal movement between a substantially vertical pivot shaft 40 provided on the frame 3 and a substantially vertical pivot shaft 17 located on the guide member 6. It will be obvious that the positioning means 6, 7 may also be controlled in a different manner, e.g. by an electric motor mounted in the floor of the box 2 and coupled to the vertical shaft 9.
  • In addition, there are provided limiting means to bound the movement of the guide members 6, 7. A first limiting means is constituted by the frame 3 of the box 2. A further limiting means 18, which in this embodiment is constituted by a corner post of the box 2, ensures that the guide member 6 is bounded in its movement. In a similar manner, the guide member 28 is bounded in its freedom of movement by the limiting means 31. Furthermore there are provided limiting means in the form of a flexible connection between the respective guide members 7, 6 and 28 and the frame 3 of the box 2. A first of these limiting means is constituted by a chain or rope 19 and is arranged between the frame 3 and the guide member 7.
  • In the construction described, the remaining flexible connections belonging to the latter limiting means are constituted by the control means 39, 37 for controlling the movable means 6, 28 or the positioning means 6, 7, in so far as the movable means 6, 28 constitute part thereof, or at least of one of the guide members 6, 7.
  • The construction described furthermore includes blocking means 20 (see Figure 2) which, when the cow 1 enters the box 2 or has already entered it and when a guide member 6, 7 is moved towards a relevant side of the cow 1 or is already in contact therewith, block a movement of the guide member 6, 7 in a direction opposite to the aforementioned direction. The blocking means include a ratchet 20 which by means of its housing is connected pivotably to the frame 3 of the box 2 via a vertical pivot shaft 24 and is provided with a guide slot, through which travels a rack 22 that also constitutes part of the ratchet and is connected pivotably to the guide member 6 about the vertical shaft 21. In addition, the ratchet 20 includes a pawl 25 which is connected movably to the housing and, under the action of a spring 26, meshes with the teeth 23 of the rack 22. In this embodiment, the bounding of the freedom of movement of the relevant guide member 6, 7, as imposed by ratchet 20, can be eliminated by means of a decoupling member 27 constituted by an operating cylinder.
  • In the embodiment of Figure 1, the box 2 has a manger 4, while furthermore there are provided expelling means, by means of which the cow 1 is forced to turn its head away from the manger 4. The expelling means also provide that the manger can be closed. For that purpose, the expelling means comprise a guide member 29 as well as a lever mechanism 32, 33, by means of which the guide member 29 is coupled to the movable means 28 for letting the cow 1 out of box 2. The lever mechanism 32, 33 comprises a lever arm 32 which is connected rigidly to the guide member 29 and which together with the guide member 29 constitutes a pivotal connection about the substantially vertical pivot shaft 30 to the frame 3 of the box 2, as well as an intermediate rod 33, the one end of which is connected pivotably via the substantially vertical pivot shaft 36 to the movable means 28 for letting the cow 1 out of box 2, while the other end is connected, capably of movement about the substantially vertical pivot shaft 35 in a slot 34 located in a fixed position relative to the intermediate rod 33, to the lever arm 32.
  • For the control of the movable means 28 for letting the cow 1 out of the box 2 and/or for that of the guide member 29, the control means 37 according to this construction are formed by an operating cylinder. This operating cylinder 37 may be a pneumatic, hydraulic or electromechanical cylinder.
  • The arrangement described in the foregoing operates as follows:
       By decoupling the ratchet 20 and energizing the operating cylinder 39, the access to box 2 is released and the cow 1 can enter the box 2.
  • The coupling of the two guide members 6, 7 by means of the intermediate rod 14 ensures that, when the cow 1 walks into the box 2, the guide member 7 deflects to beyond the box 2 and thus does not constitute an obstruction for the entering cow 1.
  • Thereafter the cow 1 will advance further into the box 2 until its head reaches the manger 4. By energizing cylinder 39 again, the box 2 is closed and the two guide members 6, 7 move towards each other with a relative time delay. As a result of this, a portion of the space inside the box 2, seen in a line with respect to the longitudinal direction of box 2, is reduced. It will be obvious that, as long as cow 1 is approximately halfway between the two mutually advancing guide members 6, 7, it will experience a relatively gentle pressure, but that, when this is not the case, a greater pressure will be exercised on one side by a relevant stop 10 or 11, so that the cow 1 is compelled to move towards a position wherein there is an equal pressure on both sides.
  • A blocking of the guide members 6 and 7 by the ratchet 20 in the direction opposite to that of the guide member 6 ensures that the cow 1 cannot load the operating cylinder 39 and consequently move the guide members 6 and 7 in the outward direction.
  • When cow 1 is located in the position defined and fixed in the above-described manner, the treatment to which cow 1 is to be submitted can be started.
  • When after due course of time it is desired that the cow 1 should leave the box 2, then the ratchet 20 is decoupled, so that the hind side of the cow 1 is released, whereafter the cylinder 37 is energized.
  • The guide member 28 clears the exit and the intermediate rod 33 ensures that after a short time the guide member 29 follows this movement. The result is that, if cow 1 was still eating from the manger 4 or had already stopped doing so, its head is pushed in the direction of the exit.
  • It will be obvious that cow 1 will not like this posture and consequently will leave the box 2. The arrangement is then accessible again to the next animal.

Claims (7)

  1. An arrangement for positioning animals, such as cows, in a box (2), which arrangement comprises movable means (6, 29) for letting an animal (1) in and out of the box (2) and positioning means for adjusting the animal (1) to a position defined to a vertical plane in the longitudinal direction of the box (2), said positioning means including two guide members (6,7 ) being arranged near opposite longitudinal sides of the box (2), characterized in that there are provided blocking means (20) which, when the animal (1) enters the box (2) or has already entered it and when a guide member (6) is moved into the direction of a relevant side of the animal (1) or is in contact therewith, block a guide member movement in a direction opposite to the said direction.
  2. An arrangement as claimed in claim 1, characterized in that the blocking means include a ratchet (20).
  3. An arrangement as claimed in claim 2, characterized in that the ratchet housing is mounted on the box frame (39) in such a manner as to be capable of hinging and is provided with a guide slot, through which travels a rack (22) that also constitutes part of the ratchet and is connected pivotably to one of the guide members.
  4. An arrangement as claimed in claim 3, characterized in that the ratchet (20) includes a pawl (25) which is connected movably to the ratchet housing and, under the action of a spring (26), meshes with the teeth (23) of the rack (22).
  5. An arrangement as claimed in claim 2, 3 or 4, characterized in that the ratchet (20) is provided with a decoupling means (27) which, preferably, is constituted by an operating cylinder for eliminating the limitation in freedom of movement of the relevant guide member as imposed by the ratchet (20).
  6. An arrangement as claimed in any one of the preceding claims, characterized in that an operating cylinder (39) is provided to move a guide member (6) into the direction of a relevant side of the animal (1).
  7. An arrangement as claimed in claim 6, characterized in that there is provided a computer (41), by means of which control signals can be generated to control the operating cylinder (39) and/or the decoupling member (27).
EP93200521A 1990-04-10 1991-04-05 An arrangement for positioning animals in a box Expired - Lifetime EP0548058B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
NL9000836A NL9000836A (en) 1990-04-10 1990-04-10 A device for positioning animals.
NL9000836 1990-04-10
EP19910200792 EP0451906B1 (en) 1990-04-10 1991-04-05 An arrangement for positioning animals in a box

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP91200792.9 Division 1991-04-05

Publications (3)

Publication Number Publication Date
EP0548058A2 true EP0548058A2 (en) 1993-06-23
EP0548058A3 EP0548058A3 (en) 1993-10-06
EP0548058B1 EP0548058B1 (en) 1997-03-05

Family

ID=19856894

Family Applications (2)

Application Number Title Priority Date Filing Date
EP19910200792 Expired - Lifetime EP0451906B1 (en) 1990-04-10 1991-04-05 An arrangement for positioning animals in a box
EP93200521A Expired - Lifetime EP0548058B1 (en) 1990-04-10 1991-04-05 An arrangement for positioning animals in a box

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP19910200792 Expired - Lifetime EP0451906B1 (en) 1990-04-10 1991-04-05 An arrangement for positioning animals in a box

Country Status (3)

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EP (2) EP0451906B1 (en)
DE (4) DE69125014D1 (en)
NL (1) NL9000836A (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1010854C2 (en) 1998-12-21 2000-06-23 Maasland Nv Operating cylinder.
US8393296B2 (en) 2011-04-28 2013-03-12 Technologies Holdings Corp. Milking box with robotic attacher including rotatable gripping portion and nozzle
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera

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NL9200051A (en) * 1992-01-13 1993-08-02 Prolion Bv Automatic milking device.
NL9300143A (en) 1993-01-26 1994-08-16 Lely Nv C Van Der Melkinrichting.
EP2091321B1 (en) 2006-12-22 2012-07-18 DeLaval Holding AB A system and method for adjustment of a milking location
WO2013089628A1 (en) * 2011-12-16 2013-06-20 Delaval Holding Ab A rotary parlour arranged to house animals to be milked
US9675043B2 (en) 2011-12-16 2017-06-13 Delaval Holding Ab Rotary parlour arranged to house animals to be milked
ES2662807T3 (en) * 2012-08-16 2018-04-09 Highscene Limited Improvements in animal handling devices
EP2999327A1 (en) 2013-05-21 2016-03-30 DeLaval Holding AB A milking stall

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DE2340421A1 (en) * 1972-08-14 1974-02-28 Babson Bros Co Prior to imprison a cow during the milking in preparation for milking, or
US4010714A (en) * 1974-03-08 1977-03-08 Director, National Institute Of Animal Industry System for managing milking-cows in stanchion stool
EP0188303A1 (en) * 1985-01-16 1986-07-23 C. van der Lely N.V. Implement for automatically milking an animal
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EP0306579A1 (en) * 1987-09-08 1989-03-15 Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) Automatic milking machine

Cited By (101)

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Publication number Priority date Publication date Assignee Title
NL1010854C2 (en) 1998-12-21 2000-06-23 Maasland Nv Operating cylinder.
EP1013939A1 (en) 1998-12-21 2000-06-28 Maasland N.V. An operating cylinder
US6386147B1 (en) 1998-12-21 2002-05-14 Maasland, N.V. Operating cylinder
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9462782B2 (en) 2010-08-31 2016-10-11 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US9980458B2 (en) 2010-08-31 2018-05-29 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US9894876B2 (en) 2010-08-31 2018-02-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9888664B2 (en) 2010-08-31 2018-02-13 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8707905B2 (en) 2010-08-31 2014-04-29 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8720383B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8720382B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8726843B2 (en) 2010-08-31 2014-05-20 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US8807085B2 (en) 2010-08-31 2014-08-19 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US8807086B2 (en) 2010-08-31 2014-08-19 Technologies Holdings Corp Automated system for applying disinfectant to the teats of dairy livestock
US9775325B2 (en) 2010-08-31 2017-10-03 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9763424B1 (en) 2010-08-31 2017-09-19 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9737043B2 (en) 2010-08-31 2017-08-22 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9706747B2 (en) 2010-08-31 2017-07-18 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9686962B2 (en) 2010-08-31 2017-06-27 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9686961B2 (en) 2010-08-31 2017-06-27 Technologies Holdings Corp. Automated system for moving a robotic arm along a rotary milking platform
US9648843B2 (en) 2010-08-31 2017-05-16 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9648839B2 (en) 2010-08-31 2017-05-16 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9560832B2 (en) 2010-08-31 2017-02-07 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9126335B2 (en) 2010-08-31 2015-09-08 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9516854B2 (en) 2010-08-31 2016-12-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US9480238B2 (en) 2010-08-31 2016-11-01 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9474248B2 (en) 2010-08-31 2016-10-25 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9549531B2 (en) 2010-08-31 2017-01-24 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
US9247709B2 (en) 2010-08-31 2016-02-02 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
US9462781B2 (en) 2010-08-31 2016-10-11 Technologies Holdings Corp. Automated system for moving a robotic arm along a rotary milking platform
US9439392B2 (en) 2010-08-31 2016-09-13 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
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Also Published As

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DE69125014T2 (en) 1997-10-16
DE69102471D1 (en) 1994-07-21
NL9000836A (en) 1991-11-01
DE69125014D1 (en) 1997-04-10
EP0548058A3 (en) 1993-10-06
EP0548058B1 (en) 1997-03-05
EP0451906A1 (en) 1991-10-16
EP0451906B1 (en) 1994-06-15
DE69102471T2 (en) 1995-02-02

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